US6843357B2 - Two-axis robot for specimen transfer - Google Patents
Two-axis robot for specimen transfer Download PDFInfo
- Publication number
- US6843357B2 US6843357B2 US10/627,415 US62741503A US6843357B2 US 6843357 B2 US6843357 B2 US 6843357B2 US 62741503 A US62741503 A US 62741503A US 6843357 B2 US6843357 B2 US 6843357B2
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- United States
- Prior art keywords
- axis
- conveyor
- post
- specimen
- carrier
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
- B65G21/22—Rails or the like engaging sliding elements or rollers attached to load-carriers or traction elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
- B65G23/08—Drums, rollers, or wheels with self-contained driving mechanisms, e.g. motors and associated gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
- B65G23/30—Variable-speed gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/005—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes comprising two or more co-operating conveying elements with parallel longitudinal axes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/76—Fixed or adjustable ploughs or transverse scrapers
- B65G47/763—Fixed ploughs or transverse scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0261—Puck as article support
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0406—Individual bottles or tubes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/046—General conveyor features
- G01N2035/0462—Buffers [FIFO] or stacks [LIFO] for holding carriers between operations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/046—General conveyor features
- G01N2035/0465—Loading or unloading the conveyor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/046—General conveyor features
- G01N2035/0467—Switching points ("aiguillages")
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/046—General conveyor features
- G01N2035/0467—Switching points ("aiguillages")
- G01N2035/047—Switching points ("aiguillages") diverging, e.g. sending carriers to different analysers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0474—Details of actuating means for conveyors or pipettes
- G01N2035/0482—Transmission
- G01N2035/0484—Belt or chain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/11—Automated chemical analysis
- Y10T436/113332—Automated chemical analysis with conveyance of sample along a test line in a container or rack
Definitions
- the present invention relates generally to Cartesian robots used in conjunction with an automated clinical laboratory conveyor system, and more particularly to an improved two-axis robot for transferring specimen tubes from one location to another.
- Clinical laboratory testing has changed and improved remarkably over the past 80 years. Initially, tests or assays were performed manually and generally utilized large quantities of serum, blood or other materials and/or body fluids. As mechanical technology developed in the industrial work place, similar technology was introduced into the clinical laboratory. With the introduction of new technology, methodologies were also improved in an effort to improve the quality of the results produced by the individual instruments, and to minimize the amount of physical specimen required to perform a particular test.
- Instruments have been developed to increase the efficiency of testing procedures by reducing turnaround time and decreasing the volumes necessary to perform various assays.
- Robotic engineering has evolved to such a degree that various types of robots have been applied in the clinical laboratory setting.
- Track devices form the physical interface between the specimen samples in carriers being directed throughout the system, while the Laboratory Automation System (LAS) database provides direction for the system through its command and control features.
- the LAS and the various track devices work in combination to direct, manage and track all specimens throughout the system.
- the three-axis Cartesian robot has been the conventional device installed to load and unload specimen tubes in specimen carriers. These three-axis robots identify the X and Y coordinates of the specimen tube location in a carrier and then grip the tube and raise and lower the tube into the carrier, along the Z axis.
- Cartesian robots are adequate to perform this task, in the case of a carrier located at a predetermined position along a straight conveyor track, the need for the expensive Cartesian robot is less necessary.
- the inventors herein have found that a simple two-axis robot can perform the identical function, at a reduced initial cost, and with the attendant lower costs of maintenance and repair of a less complicated device.
- the two-axis robot of the present invention includes a vertical tubular post mounted for rotation about its vertical axis, with a vertically slidable shaft extending through the post.
- An arm on the upper end of the post projects radially outward and has a gripper assembly thereon with operable jaws for gripping a specimen tube.
- the robot is positioned between two reference locations, for retrieving a specimen tube from one reference location and transferring it to the other.
- the reference locations are located along a circle circumscribed by a central vertical axis of the gripper jaws as they swing about the rotational axis of the post.
- FIG. 1 is a perspective view of a two-axis robot of the present invention installed between a loading track and a conveyor track of an automated laboratory system;
- FIG. 2 is top plan view of the robot and tracks shown in FIG. 1 .
- the two-axis robot of the present invention is designated generally at 10 , and is shown installed between a conventional conveyor 12 and a loading station conveyor 14 of an automated conveyor transport system.
- conveyor 12 is one track of a dual-track conveyor system 16 , with the capability for transferring a specimen carrier 18 between its dual tracks 12 and 22 .
- Loading conveyor 14 includes a continuous loop table top chain 24 , known in the art, which continuously circulates specimen carriers 18 around the loop.
- a queue 26 is installed adjacent one “run” of conveyor 14 , to selectively stop a carrier 18 in a predetermined position on conveyor 14 .
- Each carrier 18 is formed of a generally rectangular body having a series of three apertures 28 a , 28 b , and 28 c formed in the top surface and extending downwardly into the body of the carrier. As shown in FIG. 2 , apertures 28 a , 28 b and 28 c are of different diameters and overlap one another.
- each aperture has a central axis located along a longitudinal centerline 30 of carrier 18 , with the axes of the outward two apertures 28 a and 28 c spaced a uniform distance from the central aperture 28 b . In the example shown in FIGS. 1 and 2 , this distance is 0.404 inches.
- a pair of elongated guide rails 32 and 34 are disposed along the length of conveyor 14 on opposing sides of the chain 24 to guide specimen carriers 18 therebetween.
- Queue 26 includes a housing 36 positioned adjacent on run of conveyor 14 .
- a retractable shaft 38 extends transversely outwardly from housing 36 and projects over conveyor 14 to restrain a specimen carrier 18 from passing by shaft 38 .
- a sensor 40 is positioned adjacent shaft 38 to detect the presence of a specimen carrier 18 at the shaft.
- a bar code scanner 42 on queue 26 scans the bar code label (not shown) on the side of specimen carrier 18 to identify the specimen carried by that carrier.
- track 16 is a dual-lane system with a pair of generally parallel, closed loop conveyors 12 and 22 .
- a dual-sided queue 44 is installed between conveyors 12 and 22 to selectively stop and scan specimen carriers 18 on both conveyors.
- queue 44 includes an upstream and a downstream retractable shaft 46 and 48 , respectively, for selectively restraining a specimen carrier 18 .
- Sensors 50 and 52 adjacent each of shafts 46 and 48 , respectively, detect the presence of a carrier 18 at the respective shafts.
- a bar code scanner 54 adjacent the downstream shaft 48 scans a bar code label on the side of a carrier 18 to read identification information from the carrier.
- the opposing side of queue 44 , adjacent conveyor 12 has identical shafts 46 ′ and 48 ′, sensors 50 ′ and 52 ′ and scanner 54 ′.
- a command module 56 is shown in schematic form in FIG. 1 , and includes a processor that communicates with the Laboratory Automation System (LAS) to receive instructions for the identification, tracking and processing of each specimen in the system.
- Command module 56 is electrically connected to each item of hardware in the automated conveyor system to command and control the entire system.
- queue 26 , queue 44 as well as two-axis robot 10 of the present invention are all electrically interconnected with command module 56 , although these connections are not specifically identified in the drawings. From the moment a specimen within a specimen tube 58 is first loaded into a carrier 18 on loading track 14 , it is automatically identified, tracked and forwarded to various clinical instruments for processing.
- robot 10 includes a frame 60 for supporting the robot in relation to tracks 14 and 16 . While not absolutely necessary, it is preferred that frame 60 be connected to a both tracks 14 and 16 , to maintain absolute positioning reference with each track. This may be accomplished in a number of ways, including connecting beams 62 and 64 .
- Robot 10 includes a vertical post 66 mounted to a base plate 68 for rotation about its own vertical axis.
- a disk 70 mounted to post 66 has a drive belt 72 extending around the perimeter to rotate the disk, and thereby rotate post 66 on its vertical axis.
- Drive belt 72 extends around a drive pulley 74 connected to a motor 76 , for selective movement of the disk 70 in either the clockwise or counter-clockwise directions.
- Motor 76 is electrically connected to command module 56 to receive instructions for the rotation of post 66 .
- Post 66 is a tubular member, and has an elongated shaft 78 extending therethrough for vertical slidable movement within the post 66 .
- a lower end 78 a of shaft 78 projects downwardly out of the bottom of base plate 68 and is connected to a drive plate 80 operable to move the shaft vertically through post 66 .
- Drive plate 80 is connected between a pair of vertically oriented, continuous loop belts 82 a and 82 b for vertical movement with one run of each belt.
- Belts 82 a and 82 b extend around drive pulleys 84 at a lower end and idler pulleys 86 at an upper end.
- a motor 88 selectively drives drive pulleys 84 in each direction, to thereby raise and lower shaft 78 within post 66 .
- An arm 90 is mounted to the upper end 78 b of shaft 78 and projects radially outwardly therefrom through a slot 92 in post 66 .
- a gripper assembly 94 is mounted on the outward end 90 a of arm 90 and depends vertically therefrom.
- Gripper assembly includes a housing 96 with a pair of depending, operable jaws 98 . Jaws 98 are operable to move towards and away from one another on housing 96 , to thereby grip or release a specimen tube 58 therebetween. Jaws 98 are oriented vertically and parallel to a vertical axis, to thereby grip the vertically oriented tube 58 .
- arm 90 swings about axis 100 of post 66 and shaft 78 .
- the longitudinal axis 102 of arm 90 forms a radial extending from axis 100 and intersects the vertical axis 104 of gripper assembly 94 and the center axis between jaws 98 (shown in FIG. 1 ).
- loading track 16 is shown in the drawings oriented perpendicularly to conveyor track 16 , this is not a requirement of the invention.
- each track 14 and 16 must be perpendicular to a radial extending from vertical axis 100 of post 66 , such that the centerline of a specimen carrier 18 on the respective track is oriented perpendicularly to a radial of axis 100 .
- queues 26 and 44 must be positioned along the respective tracks 14 and 16 so that a specimen carrier 18 is stopped with central aperture 28 b aligned with a radial of axis 100 .
- the specimen carriers 18 of the preferred embodiment of the invention have more than one aperture 28 , and thus more than one possible location for a specimen tube 58 , the positioning of carrier 18 perpendicular to arm 90 and a radial of axis 100 with the central aperture aligned with the same radial, will position apertures 28 a and 28 c about 0.007 inches from the centerline 30 of carrier 18 . It has been found that this is sufficiently close to perpendicular to the radial to permit the jaws of the arm 90 to retrieve a specimen tube from either of apertures 28 a or 28 c .
- the length of arm 90 is determined by the amount of deviation that may be satisfactorily accounted for by the gripper assembly 94 . In the embodiment shown in these drawings, arm 90 must have a length of at least 9.431 inches to achieve a maximum deviation of 0.007 inches from the centerline of a specimen carrier 18 stopped at either queue 26 or queue 44 .
- two-axis robot 10 may be used to load a specimen tube from loading track 14 to conveyor system track 16 , for processing.
- a specimen tube 58 with a specimen sample is inserted in an appropriate one of apertures 28 a , 28 b or 28 c on specimen carrier 18 on loading track 14 .
- the command module will then instruct scanner 42 on queue 26 to scan the bar code label on the carrier 18 and transmit the identification data back to the command module 56 .
- the processor in command module 56 will communicate with the LAS to determine any clinical testing that is required for that specimen.
- command module 56 will instruct the robot 10 to swing arm 90 to a location with the jaws 98 centered over the correct aperture 28 a , 28 b or 28 c on carrier 10 on track 14 .
- This location may be described as the first reference location, and must be located along the circle circumscribed by the central vertical axis 104 of gripper assembly jaws 98 as the arm 90 is rotated on the post 66 .
- the jaws 98 are operated to close and grip the tube 58 , and then the shaft 78 of robot 10 is raised, to lift the tube 58 from the carrier 18 on track 14 .
- Arm 90 is rotated to align with a predetermined aperture 28 a , 28 b or 28 c on a specimen carrier 18 on conveyor track 12 .
- This location may be described as a second reference location, and is also along the circle circumscribed by the gripper jaw central vertical axis 104 .
- Shaft 78 is lowered and tube 58 is inserted in the carrier 18 on conveyor track 12 .
- Command module 56 determines where the carrier must be directed on the conveyor system track 16 , and downstream shaft 48 ′ is retracted to send carrier 18 on its way.
- robot 10 could be used in many other situations as well.
- the robot could be used for removing a specimen from the system, after processing.
- the robot 10 could also be used at specific clinical instruments to bring a test tube directly to the instrument for testing, and then returning the specimen to the carrier.
Abstract
Description
Claims (15)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US10/627,415 US6843357B2 (en) | 2002-07-26 | 2003-07-25 | Two-axis robot for specimen transfer |
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US39889302P | 2002-07-26 | 2002-07-26 | |
US10/627,415 US6843357B2 (en) | 2002-07-26 | 2003-07-25 | Two-axis robot for specimen transfer |
Publications (2)
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US20040094385A1 US20040094385A1 (en) | 2004-05-20 |
US6843357B2 true US6843357B2 (en) | 2005-01-18 |
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Application Number | Title | Priority Date | Filing Date |
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US10/626,466 Expired - Lifetime US6999847B2 (en) | 2002-07-26 | 2003-07-24 | Specimen carrier transfer apparatus for a conveyor track |
US10/626,463 Expired - Fee Related US7380654B2 (en) | 2002-07-26 | 2003-07-24 | Conveyor track drive |
US10/627,342 Active 2025-10-07 US7233838B2 (en) | 2002-07-26 | 2003-07-25 | Transfer and positioning apparatus for automated conveyor system |
US10/627,415 Expired - Lifetime US6843357B2 (en) | 2002-07-26 | 2003-07-25 | Two-axis robot for specimen transfer |
US10/627,341 Expired - Lifetime US6896120B2 (en) | 2002-07-26 | 2003-07-25 | Passive transfer guide for conveyor track |
US11/304,108 Abandoned US20070225857A1 (en) | 2002-07-26 | 2006-12-15 | Specimen carrier transfer apparatus |
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US10/626,466 Expired - Lifetime US6999847B2 (en) | 2002-07-26 | 2003-07-24 | Specimen carrier transfer apparatus for a conveyor track |
US10/626,463 Expired - Fee Related US7380654B2 (en) | 2002-07-26 | 2003-07-24 | Conveyor track drive |
US10/627,342 Active 2025-10-07 US7233838B2 (en) | 2002-07-26 | 2003-07-25 | Transfer and positioning apparatus for automated conveyor system |
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Application Number | Title | Priority Date | Filing Date |
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US10/627,341 Expired - Lifetime US6896120B2 (en) | 2002-07-26 | 2003-07-25 | Passive transfer guide for conveyor track |
US11/304,108 Abandoned US20070225857A1 (en) | 2002-07-26 | 2006-12-15 | Specimen carrier transfer apparatus |
Country Status (8)
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US (6) | US6999847B2 (en) |
EP (5) | EP1546737B1 (en) |
AT (3) | ATE386698T1 (en) |
AU (5) | AU2003255859A1 (en) |
CA (6) | CA2497431C (en) |
DE (3) | DE60319243T2 (en) |
ES (3) | ES2375116T3 (en) |
WO (5) | WO2004013640A1 (en) |
Cited By (48)
Publication number | Priority date | Publication date | Assignee | Title |
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US20040015075A1 (en) * | 2000-08-21 | 2004-01-22 | Yoav Kimchy | Radioactive emission detector equipped with a position tracking system and utilization thereof with medical systems and in medical procedures |
US20040054248A1 (en) * | 2000-08-21 | 2004-03-18 | Yoav Kimchy | Radioactive emission detector equipped with a position tracking system |
US20040070225A1 (en) * | 2002-10-12 | 2004-04-15 | Matthias Meinicke | Gripping tool, dosage tool and tool support for an automatic laboratory machine |
US20050169733A1 (en) * | 2004-01-29 | 2005-08-04 | Drynkin Alexander V. | Automated tube handler system |
US20050255953A1 (en) * | 2004-05-12 | 2005-11-17 | Timothy Puckett | Band Drive System for Telescopes, LIDAR and Other Instruments |
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